2 DOF Inverted Pendulum/Gantry

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Introduce Advanced Principles of Robotics

The 2 DOF Inverted Pendulum module is ideal to introduce more advanced principles of robotics. You can use it to demonstrate real-world control challenges encountered in aerospace engineering applications, such as rocket stabilization during takeoff.

The 2 DOF Inverted Pendulum module attaches to two Rotary Servo Base Units. Using this experiment, students learn how to:

  • obtain a open-loop state-space representation of a 1 DOF Rotary Inverted Pendulum system
  • design and tune an LQR-based state-feedback controller that balances two-dimensional pendulum
  • simulate the closed-loop response of the 1 DOF Rotary Inverted Pendulum
  • implement the state-feedback controller on the 2 DOF Inverted Pendulum system and evaluate its performance

Reconfigurable for 2 DOF Gantry Experiments

When mounted on the Rotary Servo Base Units, this module can be reconfigured to perform 2 DOF Gantry experiments. The challenge of this experiment is to design a feedback controller that dampens out the swinging of a single pendulum load suspended from a 2 DOF joint. The 2 DOF Gantry experiment demonstrates real-world applications of the gantry such as crane lifting and moving a heavy payload, or a pick-and-place gantry robot in an assembly line.

In addition to teaching controls, the 2 DOF Inverted Pendulum / 2 DOF Gantry can be used for research in various areas, including robust control and intelligent control.

How It Works

The 2 DOF Inverted Pendulum module consists of an instrumented 2 DOF joint to which a 12-inch rod is mounted. The rod is free to swing about two orthogonal axes. The module is attached to two Rotary Servo Base Units. Their servomotors’ output shafts are coupled through a four-bar linkage, i.e., 2 DOF Robot module, resulting in a planar manipulator robot. The 2 DOF Joint is attached to the end effector of the robot arms.

The goal of the 2 DOF Inverted Pendulum experiment is to command the position of the 2 DOF Robot end effector to balance the pendulum. By measuring the deviations of the vertical pendulum, a controller can be used to rotate the servos, so that the position of the end effector balances the pendulum.

Quanser-developed Courseware Included

The 2 DOF Inverted Pendulum module comes with Quanser-developed courseware. The Laboratory Guide, accompanied by the quick start resources, a comprehensive User Manual, pre-designed controllers and a system model allow you to get your lab running faster, saving months of time typically required to develop lab materials.

  • 2 DOF Inverted Pendulum module easily attaches to the Rotary Servo Base Unit
  • Inverted pendulum mounts at the end of the 2 DOF Robot linkage arms
  • Configurable for two experiments: 2 DOF Inverted Pendulum and 2 DOF Gantry (pendulum mounts on top or below the linkage arms)
  • 2 DOF Joint allows the pendulum to rotate in both orthogonal axes
  • High resolution encoders to sense pendulum link angles
  • Easy-connect cables and connectors
  • Fully compatible with MATLAB®/Simulink® and LabVIEW™
  • Fully documented system models and parameters provided for MATLAB®, Simulink®, LabVIEW™ and Maple™
  • Open architecture design allows users to design their own controller
Mass of 4-bar linkage module 0.335 kg
Mass of single link 0.065 kg
Length of a single bar in linkage 0.127 m
Mass of pendulum (with T-fitting) 0.127 kg
Mass of 2 DOF hinge with 2 encoders 0.30 kg
Full length of pendulum (pivot to tip) 0.3365 m
Link moment of inertia about cog 8.74 x 10-5 kg.m²
Link moment of inertia about pivot 3.49 x 10-4 kg.m²
Encoder sensitivity on 2 DOF IP joint 0.0879 deg/count

Topics included in the Quanser-developed courseware:

Model topics

  • State-space representation

Control topics

  • Linear-quadratic regulator

2 DOF Inverted Pendulum module can be also used to teach other topics that are not included in Quanser-developed courseware.

To set up your 2 DOF Pendulum workstation, you need additional components. Quanser engineers recommend:

for MATLAB®/Simulink® users for LabVIEW™ users
2x SRV02 Rotary Servo Base Unit 2x SRV02 Rotary Servo Base Unit
1x 2 DOF Robot module 1x 2 DOF Robot module
1x Q8-USB data acquisition device¹ 1x VoltPAQ-X2 linear voltage amplifier²
1x VoltPAQ-X2 linear voltage amplifier² Quanser Rapid Control Prototyping toolkit software
QUARC real-time control software and one of the following options:
  - 1x NI CompactRIO controller³ with 2x Quanser Q1-CRIO module
  - 1x NI M- or X-series data acquisition device4 with 1x Quanser NI Terminal Board

¹ alternatively, you can use QPIDe or any equivalent NI DAQ device supported by QUARC
² alternatively, you can use two VoltPAQ-X1 amplifiers

³ NI cRIO-9074, or NI cRIO-9024 with cRIO-9113 chassis
4 NI PCIe-6351 or other NI DAQ device with 4 encoders supported by Quanser RCP toolkit. Alternatively, you can use Quanser Q8-USB, or QPIDe

Other products you might be interested in

Rotary Double Inverted Pendulum
High Fidelity Linear Cart System
Linear Servo Base Unit with Inverted Pendulum
Rotary Inverted Pendulum
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